U.S. patent application number 15/859618 was filed with the patent office on 2019-07-04 for covert identification tags viewable by robots and robotic devices.
The applicant listed for this patent is Sarcos Corp.. Invention is credited to Fraser M. Smith.
Application Number | 20190202057 15/859618 |
Document ID | / |
Family ID | 65036577 |
Filed Date | 2019-07-04 |
United States Patent
Application |
20190202057 |
Kind Code |
A1 |
Smith; Fraser M. |
July 4, 2019 |
Covert Identification Tags Viewable By Robots and Robotic
Devices
Abstract
A system and method comprises marking or identifying an object
to be perceptible to robot, while being invisible or substantially
invisible to humans. Such marking can facilitate interaction and
navigation by the robot, and can create a machine or robot
navigable environment for the robot. The machine readable indicia
can comprise symbols that can be perceived and interpreted by the
robot. The robot can utilize a camera with an image sensor to see
the indicia. In addition, the indicia can be invisible or
substantially invisible to the unaided human eye so that such
indicia does not create an unpleasant environment for humans, and
remains aesthetically pleasing to humans. For example, the indicia
can reflect UV light, while the image sensor of the robot can be
capable of detecting such UV light. Thus, the indicia can be
perceived by the robot, while not interfering with the aesthetics
of the environment.
Inventors: |
Smith; Fraser M.; (Salt Lake
City, UT) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Sarcos Corp. |
Salt Lake City |
UT |
US |
|
|
Family ID: |
65036577 |
Appl. No.: |
15/859618 |
Filed: |
December 31, 2017 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
Y10S 901/49 20130101;
G06K 19/06037 20130101; G06K 7/10861 20130101; Y10S 901/47
20130101; Y10S 901/09 20130101; B25J 9/1669 20130101; B25J 11/008
20130101; B25J 9/1674 20130101; B25J 9/0003 20130101; G06K 19/0614
20130101; G06K 7/10722 20130101; B25J 9/1697 20130101; Y10S 901/01
20130101; G05D 1/0234 20130101; G06K 19/06131 20130101; G06F
16/90335 20190101; B25J 19/02 20130101; G06K 7/12 20130101 |
International
Class: |
B25J 9/16 20060101
B25J009/16; G06K 7/10 20060101 G06K007/10; G06F 17/30 20060101
G06F017/30; B25J 9/00 20060101 B25J009/00; B25J 11/00 20060101
B25J011/00 |
Claims
1. A method for creating a machine navigable environment for a
robot, the method comprising: identifying a desired space in which
the robot will operate; selecting one or more objects that are or
will be located in the space; marking the one or more objects with
indicia being machine-readable and human-imperceptible; and
introducing the robot into the space, the robot being capable of
movement within the space, and the robot having a sensor capable of
perceiving the indicia.
2. The method of claim 1, wherein the indicia comprises interaction
information that assists the robot with interaction with the
object.
3. The method of claim 1, wherein the indicia facilitates access to
interaction information stored in a computer database.
4. The method of claim 1, wherein marking the one or more objects
with indicia further comprises marking the one or more objects with
indicia that is UV reflective and visible in the UV spectrum, and
the robot has a camera with an image sensor operable in the UV
spectrum and a UV light source.
5. The method of claim 1, wherein marking the one or more objects
further comprises applying the indicia on an external, outfacing
surface of the object facing into the space.
6. The method of claim 1, wherein marking the one or more objects
further comprises applying the indicia over a finished surface of
the object.
7. The method of claim 1, wherein marking the one or more objects
further comprises applying a removable applique with the indicia to
an outermost finished surface of the object.
8. The method of claim 1, wherein marking the one or more objects
further comprises disposing the indicia to be under an outermost
finished surface of the object.
9. The method of claim 1, wherein the indicia is disposed in a
laminate with an outer layer disposed over the indicia, and the
outer layer is opaque to visible light.
10. The method of claim 1, wherein marking the one or more objects
further comprises marking the one or more objects with indicia
transparent to visible light.
11. The method of claim 1, wherein selecting the one or more
objects further comprises selecting a transparent object, and
wherein marking the one or more objects further comprises applying
the indicia on the transparent object without interfering with the
transparency of the object.
12. The method of claim 1, wherein the indicia identifies the
object.
13. The method of claim 1, wherein the indicia identifies a
location of an interface of the object.
14. The method of claim 1, wherein the indicia identifies a
location of an interface of the object and a direction of operation
of the interface.
15. The method of claim 1, wherein marking the one or more objects
further comprises marking an object inside a perimeter of the
object.
16. The method of claim 1, wherein marking the one or more objects
further comprises marking an object adjacent an interface of the
object.
17. The method of claim 1, wherein marking the one or more objects
further comprises marking an object substantially circumscribing a
perimeter of the object.
18. The method of claim 1, wherein marking the one or more objects
with indicia further comprises marking a single object of the one
or more objects with multiple different indicia on different parts
of the single object to identify the different parts of the single
object.
19. The method of claim 1, wherein selecting the one or more
objects further comprises selecting an object representing a
physical boundary or barrier to movement or action of the robot;
and wherein marking the one or more objects further comprises
marking the object to indicate the physical boundary or
barrier.
20. The method of claim 1, wherein selecting the one or more
objects further comprises selecting an object representing a
physical boundary or barrier subject to damage of the object by the
robot, and wherein marking the one or more objects further
comprises marking the object to indicate the physical boundary or
barrier.
21. The method of claim 1, wherein selecting the one or more
objects further comprises selecting an object representing a
physical boundary or barrier subject to damage of the robot, and
wherein marking the one or more objects further comprises marking
the object to indicate the physical boundary or barrier.
22. The method of claim 1, wherein selecting the one or more
objects further comprises selecting an object representing a
physical boundary or barrier subject to frequent movement, and
wherein marking the one or more objects further comprises marking
the object to indicate the physical boundary or barrier.
23. The method of claim 1, further comprising: identifying a
desired or probable task to be given to the robot; and identifying
one or more objects corresponding to the desired or probable
task.
24. The method of claim 1, further comprising: giving an
instruction to the robot involving at least one of the one or more
objects.
25. The method of claim 1, wherein marking the one or more objects
with indicia further comprises marking the one or more objects with
indicia that is IR reflective and visible in the IR spectrum, and
the robot has a camera with an image sensor operable in the IR
spectrum and an IR light source.
26. The method of claim 1, wherein marking the one or more objects
with indicia further comprises marking the one or more objects with
indicia that is RF reflective, and the robot has a sensor operable
in the RF spectrum.
27. The method of claim 1, wherein marking the one or more objects
with indicia further comprises marking the one or more objects with
indicia that emits ultrasonic wavelengths, and the robot has sensor
operable in the ultrasonic spectrum.
28. An object configured for use with a robot with a sensor in a
space defining a machine navigable environment, the object
comprising: a surface; indicia disposed on the surface, the indicia
being machine-readable by the sensor of the robot, and the indicia
being human-imperceptible; and the indicia identifying the object
and comprising information pertaining to interaction of the robot
with the object.
29. The object of claim 28, wherein the indicia comprises
interaction information indicating, at least in part, how the robot
is to interact with the object.
30. The object of claim 28, wherein the interaction information is
stored on a computer database to be later conveyed to the
robot.
31. The object of claim 28, wherein the indicia is visible in the
UV spectrum; and wherein the robot has a camera with an image
sensor operable in the UV spectrum and a UV light source.
32. The object of claim 28, wherein the indicia is disposed over a
finished surface of the object.
33. The object of claim 28, wherein the indicia comprises an
applique removably disposed on an outermost finished surface of the
object.
34. The object of claim 28, wherein the indicia is disposed under
an outermost finished surface of the object.
35. The object of claim 28, wherein the indicia comprises a
laminate with an outer layer disposed over the indicia; and wherein
the outer layer is opaque to visible light.
36. The object of claim 28, wherein the indicia is transparent to
visible light.
37. The object of claim 28, further comprising a transparent
portion; and wherein the indicia is disposed on the transparent
portion without interfering with the transparency of the
portion.
38. The object of claim 28, wherein the indicia identifies a
location of an interface of the object and a direction of operation
of the interface.
39. The object of claim 28, wherein the indicia is disposed inside
a perimeter of the object.
40. The object of claim 28, wherein the indicia is disposed
adjacent an interface of the object.
41. The object of claim 28, wherein the indicia substantially
circumscribes a perimeter of the object.
42. The object of claim 28, wherein the indicia further comprises
multiple different indicia on different parts of a single object
identifying the different parts of the single object.
43. The object of claim 28, wherein the object represents a
physical boundary or barrier to movement or action of the robot;
and wherein the indicia indicates the physical boundary or
barrier.
44. The object of claim 28, wherein the object represents a
physical boundary or barrier subject to damage of the object by the
robot; and wherein the indicia indicates the physical boundary or
barrier.
45. The object of claim 28, wherein the object represents a
physical boundary or barrier subject to damage of the robot; and
wherein the indicia indicates the physical boundary or barrier.
46. The object of claim 28, wherein the object represents a
physical boundary or barrier subject to frequent movement; and
wherein the indicia indicates the physical boundary or barrier.
47. The object of claim 28, wherein the indicia is visible in the
IR spectrum, and the robot has a camera with an image sensor
operable in the IR spectrum and an IR light source.
48. The object of claim 28, wherein the indicia is RF reflective,
and the robot has a sensor operable in the RF spectrum.
49. The object of claim 28, wherein the indicia emits ultrasonic
wavelengths, and the robot has sensor operable in the ultrasonic
spectrum.
50. A machine readable marker, comprising: human-imperceptible
marking indicia, wherein the marking indicia is configured to be
applied to an object, and comprises information pertaining to robot
interaction with the object.
51. The machine readable marker of claim 50, wherein the
information comprises interaction information that assists the
robot with interaction with the object.
52. The machine readable marker of claim 50, wherein the
information comprises a link facilitating access interaction
information stored in a computer database, the interaction
information assisting the robot with interaction with the
object.
53. A robotic system comprising: human-imperceptible indicia
associated with an object within an environment in which the robot
operates, the human-imperceptible indicia comprising linking
information; a robot having at least one sensor operable to sense
the human-imperceptible indicia and the linking information; and
interaction information stored in a database accessible by the
robot, the interaction information being associated with the
linking information and pertaining to a predetermined intended
interaction of the robot with the object, wherein the linking
information is operable to facilitate access to the database and
the interaction information therein by the robot, the interaction
information being operable to instruct the robot to interact with
the object in accordance with the predetermined intended
interaction.
54. A robotic system comprising: human-imperceptible indicia
associated with an object within an environment in which a robot
operates, the human-imperceptible indicia comprising interaction
information directly thereon pertaining to a predetermined intended
interaction of the robot with the object; and the robot having at
least one sensor operable to sense the human-imperceptible indicia
and the interaction information, the interaction information being
operable to instruct the robot to interact with the object in
accordance with the predetermined intended interaction.
Description
BACKGROUND
[0001] Having a robot traverse a space and interact with objects
can be a difficult task. The robot must be able to distinguish
obstacles which could damage the robot, or which can be damaged by
the robot. In addition, the robot must be able to identify objects
with which it must interact in order to carry out instructions.
Furthermore, some objects can present dangers or difficulties to
interaction, such as the difference between a freezer and a fridge
door, or which knob on a stove corresponds to which burner,
etc.
BRIEF DESCRIPTION OF THE DRAWINGS
[0002] Features and advantages of the invention will be apparent
from the detailed description which follows, taken in conjunction
with the accompanying drawings, which together illustrate, by way
of example, features of the invention; and, wherein:
[0003] FIG. 1 is a schematic perspective view of a space with
objects therein marked with machine-readable, but
human-imperceptible, indicia, defining a machine-navigable
environment through which a robot can navigate and interact, in
accordance with an example.
[0004] FIG. 2a is a schematic front view of a machine-readable, but
human-imperceptible, label or indicia for marking an object of FIG.
1 in accordance with an example, and shown visible for the sake of
clarity.
[0005] FIG. 2b is a schematic front view of the label or indicia
for marking an object of FIG. 1 in accordance with an example, and
illustrated in such a way to indicate invisibility.
[0006] FIG. 3 is a schematic side view of the label or indicia for
marking an object of FIG. 1 in accordance with an example.
[0007] FIG. 4 is a schematic cross-sectional side view of the label
or indicia for marking an object of FIG. 1 in accordance with an
example.
[0008] FIG. 5 is a schematic front view of an object of FIG. 1 in
accordance with an example.
[0009] FIG. 6 is a schematic front view of an object of FIG. 1 in
accordance with an example.
[0010] FIG. 7 is a schematic front view of an object of FIG. 1 in
accordance with an example.
[0011] FIG. 8 is a schematic view of look-up table or library of
indicia.
[0012] Reference will now be made to the exemplary embodiments
illustrated, and specific language will be used herein to describe
the same. It will nevertheless be understood that no limitation of
the scope of the invention is thereby intended.
SUMMARY OF THE INVENTION
[0013] An initial overview of technology embodiments is provided
below and then specific technology embodiments are described in
further detail later. This initial summary is intended to aid
readers in understanding the technology more quickly but is not
intended to identify key features or essential features of the
technology nor is it intended to limit the scope of the claimed
subject matter.
[0014] Disclosed herein is a system and method for marking or
identifying an object to be perceptible to a robot, or being
machine-readable, while being invisible or substantially invisible
to humans. Such marking can facilitate identification, interaction
and navigation by the robot, and can create a machine or robot
navigable environment for the robot. By way of example, such an
object can be an appliance, such as a refrigerator, with which the
robot approaches and interacts in order to complete a task, such as
to retrieve an item (e.g., a beverage). Thus, the appliance or
refrigerator can have a marking, label, tag or indicia that is
machine-readable, and that can identify the appliance as a
refrigerator, and thus the object with which the machine or robot
will interact to retrieve the item. As used herein, the term
"indicia" refers to one or more than one "indicium." In addition,
the indicia can also identify the parts of the refrigerator, such
as the handle, again with which the robot will interact. Multiple
different markings, labels, tags or indicia can be used to
distinguish the multiple different parts of the refrigerator, such
as the refrigerator handle, the freezer handle, the ice maker
dispenser, the water dispenser, different shelves or bins, etc.
Furthermore, the indicia can also indicate a direction, magnitude
or other parameters that may be useful to the robot in terms of how
the robot should interact with the object. For example, the indicia
can indicate which direction the door opens, how much force should
be exerted to open the door, and the degree of rotation to be
carried out.
[0015] The machine readable indicia can comprise symbols that can
be perceived and interpreted by the robot, but that are not visible
to the unaided human eye. In one example, the robot can utilize a
camera with an image sensor to see the indicia. In addition, the
indicia can be invisible or substantially invisible to the unaided
human eye so that such indicia does not create an unpleasant
environment for humans, and remains aesthetically pleasing to
humans. For example, the indicia can reflect UV light, while the
image sensor of the robot can be capable of detecting such UV
light. Thus, the indicia can be perceived by the robot, while not
interfering with the aesthetics of the environment.
DETAILED DESCRIPTION
[0016] As used herein, the term "substantially" refers to the
complete or nearly complete extent or degree of an action,
characteristic, property, state, structure, item, or result. For
example, an object that is "substantially" enclosed would mean that
the object is either completely enclosed or nearly completely
enclosed. The exact allowable degree of deviation from absolute
completeness may in some cases depend on the specific context.
However, generally speaking the nearness of completion will be so
as to have the same overall result as if absolute and total
completion were obtained. The use of "substantially" is equally
applicable when used in a negative connotation to refer to the
complete or near complete lack of an action, characteristic,
property, state, structure, item, or result.
[0017] As used herein, "adjacent" refers to the proximity of two
structures or elements. Particularly, elements that are identified
as being "adjacent" may be either abutting or connected. Such
elements may also be near or close to each other without
necessarily contacting each other. The exact degree of proximity
may in some cases depend on the specific context.
[0018] As used herein, "visible" refers to visible to the unaided
human eye and visible with light in the visible spectrum, with a
wavelength of approximately 400 to 750 nanometers.
[0019] As used herein, "indicia" refers to both indicia and
indicium, unless specified otherwise.
[0020] FIG. 1 depicts a schematic perspective view of a space 10
with exemplary objects 14 marked with machine-readable, but
human-imperceptible, indicia 18, therein, defining a
machine-navigable environment through which a robot 22 can navigate
and interact, in accordance with an example. The robot 22 can be
mobile and self-propelled, such as with wheels and a motor,
tele-operated, a humanoid robot, etc. as understood by those of
skill in the art. The robot 22 can have one or more arms with
grippers or fingers, or the like, for grasping or engaging objects.
In addition, the robot 22 can have a camera 26 with an image sensor
to view or sense objects and the environment. In one aspect, the
camera 26 or image sensor can be operable in the UV spectrum, and
can be capable or viewing or sensing UV light. In addition, the
robot 22 can have a UV light source 30 capable of emitting UV light
to illuminate and reflect off of the objects and environment. In
one aspect, the UV light source 30 can emit, and the UV camera 26
or image sensor thereof can detect, near UV light (NUV) with a
wavelength between 380 to 200 nanometers.
[0021] The objects 14 can vary depending upon the environment or
space. In one aspect, the environment or space 10 can be a home or
kitchen therein. Thus, the objects can comprise built-in
appliances, such as a refrigerator 14b, a range 14c or stove and
cooktop, a microwave oven 14d, a dishwasher, a trash compactor,
etc. In another aspect, the objects can comprise countertop
appliances, such as a blender, a rice-cooker, a vegetable steamer,
a crackpot, a pressure cooker, etc. In addition, the objects can
have an interface, such as a handle, knob, button, actuator, etc.
In addition, the objects can be or can represent a physical
boundary or barrier to movement or action of the robot, such as
walls 14f, counters or islands 14g, etc. In addition, the objects
can be or can represent a physical boundary or barrier subject to
damage of the object by the robot, such as an outdoor window 14h,
an oven window, a microwave window, a mirror, a glass door of a
cabinet, etc. In addition, the object can be or can represent a
physical boundary or barrier hazardous to the robot, such as
stairs, etc. Furthermore, the object can be or can represent a
physical boundary or barrier subject to frequent movement, such as
a chair 14i, a door 14j, etc. The objects can have exterior,
outfacing surfaces, represented by 34b of the refrigerator 14b,
that face outwardly and into the space 10.
[0022] The indicia 18 can be disposed on and carried by the object
14, such as on the exterior, outfacing surface, etc. In one aspect,
the indicia 18 can comprise information pertaining to the object,
to the interaction of the robot with the object, the environment,
etc. For example, the indicia can 18 can identify the object, a
location of an interface of the object, indicate the physical
boundary or barrier thereof, or can comprise certain interaction
information directly thereon, or that comprises database-related or
linking information that facilitates access to such interaction
information, such as by providing a link, opening or causing to be
opened, or other access initiating indicia to a computer database
comprising the information, wherein the robot (or an operator) can
interact with the computer database to obtain the information
designed to assist the robot in how to interact with the object,
its environment, etc. This is explained in further detail
below.
[0023] The phrase "interaction information," as used herein, can
mean information conveyed to the robot facilitated by reading of
the marking indicia that can be needed by or useful to the robot to
interact with an object in one or more ways, wherein the
interaction information facilitates efficient, accurate and useful
interaction with the object by the robot. More specifically, the
interaction information can comprise information that pertains to a
predetermined intended interaction of the robot with an object, and
any other type of information readily apparent to those skilled in
the art upon reading the present disclosure that could be useful in
carrying out predetermined and intended robot interaction with the
object in one or more ways. Interaction information can comprise,
but is not limited to, information pertaining to the identification
of the object (e.g., what the object is, the make or model of the
object, etc.), information about the properties of the object
(e.g., information about the material makeup, size, shape,
configuration, orientation, weight, component parts, surface
properties, material properties, etc. of the object), computer
readable instructions regarding specific ways the robot can
manipulate the object, or a component part or element of the object
(e.g., task-based instructions or algorithms relating to the object
and how it can be interacted with (e.g., if this task, then these
instructions), information pertaining to how the robot can interact
with the object (e.g., direction, magnitude, time duration, etc.),
relative information as it pertains to the object (e.g.,
information about the object relative to its environment (e.g.,
distance from a wall, location where it is to be moved to, etc.) or
one or more other objects, information about its location (e.g.,
coordinates based on GPS or other navigational information), etc.),
information about tasks that utilize multiple marking indicia
(e.g., sequence instructions that can include identification of the
sequence, where to go to find the next sequential marking indicia,
etc.). The nature, amount and detail of the interaction information
can vary and can depend upon a variety of things, such as what the
robot already knows, how the robot is operated, such as whether the
robot is intended to function autonomously, semi-autonomously, or
under complete or partial control via a computer program or human
control, etc. The interaction information described and identified
herein is not intended to be limiting in any way. Indeed, those
skilled in the art will recognize other interaction information
that can be made available to a robot or robotic device or a system
in which a robot or robotic device is operated (e.g., such as to an
operator, or to a system operating in or with a virtual
environment) via the indicia. It is contemplated that such
interaction information can be any that may be needed or desired
for a robot, robotic device, etc. to interact with any given
object, and as such, not all possible scenarios can be identified
and discussed herein. In one aspect, the indicia can represent
machine language that is recognizable and understood by the robot
or computer processor thereof. In another aspect, the indicia can
represent codes or numbers that can be compared to the look-up
table or library. Thus, the look-up table or library can comprise
codes or numbers associated with interaction information. In one
aspect, the look-up table or library can be internal to the robot.
In another aspect, the look-up table or library can be external to
the robot, and with which the robot can communicate during
operation (e.g., a computer network or cloud-based system
accessible by the robot).
[0024] In another example, the environment or space can be an
office. Thus, the objects can comprise walls, cubicles, desks,
copiers, etc. In another example, the environment or space can be
an industrial or manufacturing warehouse, plant, shipyard, etc.
Moreover, the objects can comprise products, machinery, etc.
Essentially, it is contemplated herein that the labels or indicia
can be utilized in any conceivable environment in which a robot
could operate, and that they can be utilized on any objects or
items or structural elements within such environments, and that
they can comprise any type of information of or pertaining to the
environment, the objects, the interaction of these with one
another, etc.
[0025] FIG. 2a depicts a schematic front view of a marker in the
form of a label comprising indicia 18 configured to be applied to
an object in accordance with an example. As such, the marker can
comprise a physical medium or carrier operable to support or carry
thereon the marking indicia. For sake of clarity, the label or
indicia 18 is shown as being visible, although such indicia is
configured to be invisible to the unaided human eye
(human-imperceptible) and is substantially transparent to visible
light. FIG. 2b depicts a schematic front view of the label and
indicia 18 supported thereon, but illustrated in such a way to
indicate invisibility to the unaided human eye, and substantial
transparency to visible light. The indicia 18 is machine-readable.
Thus, the indicia 18 can include symbols or patterns 38 or both
that can be perceived by the camera 26 or image sensor (or other
sensor or detector) thereof, and recognized by the robot 22. In one
aspect, the indicia 18 can be or can comprise a bar code that is
linear or one-dimensional with a series of parallel lines with a
variable thickness or spacing to provide a unique code, or a
two-dimensional MaxiCode or QR code with a pattern of rectangular
or square dots to provide a unique code, etc. In another aspect,
the indicia can include symbols, letters, and even arrows 42 or the
like. In another aspect, the indicia 18 can be passive, as opposed
to an active identifier, such as a radio frequency identification
(RFID) device or tag.
[0026] In addition, the indicia 18 can be human-imperceptible or
invisible or substantially invisible to the unaided human eye, as
indicated in FIG. 2b. In one aspect, the indicia 18 can be
invisible in the visible spectrum, and thus does not substantially
reflect visible light. In one aspect, the indicia 18 can be
transparent or translucent, so that visible light substantially
passes therethrough. In one aspect, the indicia can be ultraviolet
and can reflect ultraviolet light, either from the surrounding
light sources, such as the sun, or as illuminated from the UV light
source 30 of the robot 22. Thus, the indicia 18 can be visible in
the UV spectrum. Therefore, the indicia 18 can be applied to an
object and appear to the human eye as translucent or clear, or
transparent to visible light, and thus can be substantially
imperceptible to the unaided human eye to maintain the aesthetic
appearance of the object. But the indicia 18 can be visible, such
as in the UV spectrum, to the camera 16 of the robot 22.
[0027] The indicia can be visible outside of the visual spectrum.
In one aspect, the indicia can fluoresce or be visible with
infrared or IR (near, mid and/or far). For example, the object can
be marked with indicia that is IR reflective and visible in the IR
spectrum; and the robot can have a camera with an image sensor
operable in the IR spectrum and an IR light source. In another
aspect, the indicia can be radio frequencies or sound in
wavelengths outside of the human audible ranges. For example, the
object can be marked with indicia that is RF reflective; and the
robot can have a sensor operable in the RF spectrum. As another
example, the robot can touch the object with an ultrasonic emitter
and receive a characteristic return signal, or emit a sound that
causes an internal mechanism to resonate at a given frequency
providing identification. Thus, the object can be marked with
indicia that emits ultrasonic wavelengths, and the robot can have a
sensor operable in the ultrasonic spectrum.
[0028] Referring again to FIG. 1, the object 14, such as a window
of the range 14c, or a window of the microwave 14d, or the outside
window 14h, can have a transparent portion. The indicia 18 can be
disposed on the transparent portion, and can be transparent, as
described above, so that the indicia does not interfere with the
operation of the object or transparent portion thereof. Thus, the
indicia 18 applied to the window 14h or transparent portion of the
range 14c or microwave 14d does not impede viewing through the
window or transparent portion.
[0029] FIG. 3 depicts a schematic cross-sectional side view of the
label or indicia 18 for marking an object 14. In one aspect, the
indicia 18 can be disposed over a finished surface 46 of the object
14. In one aspect, the indicia 18 can be or can comprise a
removable label or a removable applique 50 removably disposed on or
applied to an outermost finished surface 46 of the object 14. For
example the indicia 18 can be printed on the label or the applique
50. The applique 50 can adhere to the finished surface 46 of the
object, such as with a releasable or permanent adhesive. Thus, the
indicia 18 can be applied to the objects 14 in an existing space,
and after manufacture and transportation of the objects to the
space. The indicia 18 or labels 50 can be applied to an existing
space 10 and the objects therein.
[0030] FIG. 4 depicts a schematic cross-sectional side view of the
label or indicia 18 for marking an object 14. In one aspect, the
indicia 18 can be disposed under an outermost finished surface 46
of the object 14. For example, the indicia 18 can be disposed
directly on the object, such as by printing or painting, and then
the outermost finished surface 46, such as a clear coat or the
like, can be applied over the indicia 18. Thus, the indicia 18 can
be or can comprise a laminate with an outer layer 46 disposed over
the indicia 18. In one aspect, the outer layer 46 can be
transparent or translucent to visible light, such as a clear coat.
In another aspect, the outer layer 46 can be opaque to visible
light. In another aspect, the outer layer 46 can be transparent or
translucent to UV light. Thus, the indicia 18 can be visible to the
robot 22 or camera 26 or image sensor thereof, even when covered by
the finished outer layer 46 of the object. Thus, the aesthetic
appearance of the object can be maintained. In addition, the
indicia 18 can be applied to the objects during manufacture and at
the place of manufacture.
[0031] In another example, the indicia can be applied directly to
the object without the use of a carrier medium (e.g., such as a
label). In one example, the indicia can be applied by printing onto
the object using a suitable ink. Many different types of inks are
available, such as those that fluoresce at specific
wavelengths.
[0032] In another aspect, the indicia can be applied or painted on
during production of the object. In one aspect, the entire object
can be painted with fluorescent paint or covering, and the indicia
can be formed by a part that is unpainted or uncovered. In another
aspect, the indicia or object can comprise paint that becomes
capable fluorescence when another chemical is applied to the
paint.
[0033] In another aspect, fluorescent markers can be used. For
example, the fluorescent markers can include fluorescently doped
silicas and sol-gels, hydrophilic polymers (hydrogels), hydrophobic
organic polymers, semiconducting polymer dots, quantum dots, carbon
dots, other carbonaceous nanomaterials, upconversion NPs, noble
metal NPs (mainly gold and silver), various other nanomaterials,
and dendrimers.
[0034] In another aspect, the indicia can be part of an attached
piece. For example, the indicia can be on a handle or trim that is
mechanically fastened or chemically adhered to the object. As
another example, the indicia can be molded into a polymer of the
handle, trim or other part.
[0035] FIG. 5 depicts a schematic front view of an object, namely a
refrigerator 14b, in accordance with an example. The object 14b can
have an interface, such as one or more handles 54 or one or more
buttons, knobs or actuators 58. In addition, the object 14b can
have multiple labels or indicia 18. In one aspect, the indicia 18
can identify the object 14b as a refrigerator. In another aspect,
other indicia 62 and 64 can identify a location of an interface, or
the handle 54 or the actuator 58, respectively. Thus, the object
14b can have multiple different indicia 18, 62 and 64 on different
parts of a single object, identifying the different parts 54 and 58
of the single object and information on how to interact with them.
As described above, the indicia 18 can include an arrow 42 (FIGS.
2a and 2b) to indicate location of the interface. The indicia 62
and 64 can be disposed or located adjacent to the interface, or
handle 54 and actuator 58, of the object so that the arrow 42 is
proximal the interface. In addition, the indicia can include other
information, or can facilitate access to other information
(interaction information), such as a direction of operation (e.g.
outwardly, inwardly, downward, to the right or to the left) of the
interface or handle, or magnitude or limit of force required to
operate the interface. For example, the indicia 62 in FIG. 5 can
indicate, or facilitate access to information that indicates, that
the object 14b is the refrigerator, identify the location of the
handle 54, that a force of 10-20 lbs. is required to open the door,
that the force applied should not exceed 30 lbs., that the door
opens to the right or the maximum rotation of the door is not to
exceed 120 degrees, or both. Such information can reduce the
calculation time and computational power required by the robot to
complete a task, and can reduce the need to learn certain aspects
useful or required for interacting with the object(s).
[0036] The indicia 18, 62 and 64, can be located or disposed inside
a perimeter 68 or lateral perimeter of the object 14c. In another
aspect, the indicia 72 can be disposed at the perimeter 68 or
lateral perimeter of the object 14c to help identify the boundaries
of the object. The indicia 72 can substantially circumscribe the
perimeter of the object.
[0037] FIG. 6 depicts a schematic front view of an object, namely a
doorway 78, with an interface, namely the opening 80 therethrough,
in accordance with an example. The indicia 82 can be disposed on a
wall 14f to identify the wall or the doorway 78, and to indicate
the interface or opening 80 thereof and other pertinent
information. The indicia 82 can be located adjacent to or proximal
to the opening 80 at a perimeter thereof.
[0038] Similarly, FIG. 7 depicts a schematic front view of an
object, namely a door 86, with an interface, namely a doorknob 88,
in accordance with an example. The indicia 90 can be disposed on
the door 86 to identify the door, and to indicate the interface or
the doorknob 88 thereof and other pertinent information. To do so,
the indicia 90 can be located adjacent to or proximal to the
interface or the doorknob 90, respectively. Again, the indicia 90
can also indicate, or can facilitate access to information that can
indicate, the direction of operation of the object or door (e.g.
inwardly, outwardly, to the left, to the right), the direction of
operation of the interface or doorknob (e.g. clockwise or
counterclockwise), the force required to open the door or the
doorknob, etc.
[0039] FIG. 8 depicts a schematic view of a look-up table 100 or
library of information corresponding to the indicia 18, with the
look-up table 100 or library of information stored in a computer
database, accessible by the robot via one or more ways as is known
in the art. As indicated above, the indicia 18 can identify or
facilitate identification of the object, a location of an interface
of the object, indicate or facilitate indication of the physical
boundary or barrier thereof, and can comprise or facilitate access
to information pertaining to robot interaction (or interaction
information or instructions) with the object.
[0040] As indicated above, in one aspect, the indicia 18 can
comprise multiple indicia 18 on a single object, In another aspect,
the indicia 18 can comprise a series of indicia on a series of
objects or a single object. Thus, the indicia 18 can comprise a
series identifier to indicate its position in the series. The
series of indicia can correspond to a series of objects, or aspects
of one or more objects, with which the robot must interact in
series or in sequence. For example, a first indicia can be
associated with the refrigerator door, and can comprise indicia
indicating that it is the first in a series of indicia, while a
second indicia can be associated with a drawer in the refrigerator,
and can comprise indicia indicating that it is the second in the
series of indicia, while a third indicia can be associated with a
container in the drawer, and can comprise indicia indicating that
it is the third in the series of indicia. Thus, if the robot opens
the refrigerator door, and looks through the drawer to the
container, and thus sees the third indicia, the robot will know
that there has been a skip in the sequence and know that it must
search for the second indicia. Such a sequence in the indicia can
help the robot perform the correct tasks, and can also provide
safety to the objects and the robot.
[0041] In another aspect, the indicia can provide further
instructions. For example, the indicia can represent instructions
to instruct the robot to turn on a sensor that will be needed to
interact with the object.
[0042] A method for creating a machine navigable environment for a
robot 22, as described above, comprises identifying a desired space
10 in which the robot 22 will operate (e.g. a home or kitchen);
selecting one or more objects 14 (e.g. a refrigerator 14d) that are
or will be located in the space 10; marking the one or more objects
14 with indicia 18 being machine-readable and human-imperceptible;
and introducing the robot 22 into the space 10. The robot 22 is
capable of movement within the space 10, and the robot has a sensor
26 capable of perceiving the indicia 18 and processing the
information contained therein that assist the robot in performing a
task. Indeed, one or more desired or probable tasks to be given to
the robot 22 can be identified, such as to obtain a beverage from
the refrigerator 14b, etc. In addition, one or more objects 14b
corresponding to the desired or probable task can be identified.
Furthermore, instructions can be given to the robot 22 involving at
least one of the one or more objects 14b.
[0043] Reference was made to the examples illustrated in the
drawings and specific language was used herein to describe the
same. It will nevertheless be understood that no limitation of the
scope of the technology is thereby intended. Alterations and
further modifications of the features illustrated herein and
additional applications of the examples as illustrated herein are
to be considered within the scope of the description.
[0044] Although the disclosure may not expressly disclose that some
embodiments or features described herein may be combined with other
embodiments or features described herein, this disclosure should be
read to describe any such combinations that would be practicable by
one of ordinary skill in the art. The user of "or" in this
disclosure should be understood to mean non-exclusive or, i.e.,
"and/or," unless otherwise indicated herein.
[0045] Furthermore, the described features, structures, or
characteristics may be combined in any suitable manner in one or
more examples. In the preceding description, numerous specific
details were provided, such as examples of various configurations
to provide a thorough understanding of examples of the described
technology. It will be recognized, however, that the technology may
be practiced without one or more of the specific details, or with
other methods, components, devices, etc. In other instances,
well-known structures or operations are not shown or described in
detail to avoid obscuring aspects of the technology.
[0046] Although the subject matter has been described in language
specific to structural features and/or operations, it is to be
understood that the subject matter defined in the appended claims
is not necessarily limited to the specific features and operations
described above. Rather, the specific features and acts described
above are disclosed as example forms of implementing the claims.
Numerous modifications and alternative arrangements may be devised
without departing from the spirit and scope of the described
technology.
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